version: 66.12
glider: 203
mission: 8
dive: 180
start: 8 12 115 2 14 35
data:
$ID,203
$MISSION,8
$DIVE,180
$N_DIVES,0
$D_SURF,2
$D_FLARE,3
$D_TGT,800
$D_ABORT,1020
$D_NO_BLEED,200
$D_BOOST,50
$T_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,250
$T_MISSION,280
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$T_EPIRB,0
$USE_BATHY,-5
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,1000
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,45
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52079
$MASS_COMP,0
$NAV_MODE,2
$FERRY_MAX,45
$KALMAN_USE,2
$HD_A,0.0065996498
$HD_B,0.0098683201
$HD_C,1.5339499e-05
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,4736
$TGT_DEFAULT_LON,-12218
$TGT_AUTO_DEFAULT,0
$SM_CC,400
$N_FILEKB,8
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,9
$N_NOCOMM,1
$NOCOMM_ACTION,163
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,100740
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,202
$PITCH_MAX,3901
$C_PITCH,2650
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.079999998
$P_OVSHOOT_WITHG,0
$PITCH_GAIN,20
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.015
$PITCH_ADJ_DBAND,1
$ROLL_MIN,302
$ROLL_MAX,3859
$ROLL_DEG,40
$C_ROLL_DIVE,2700
$C_ROLL_CLIMB,2800
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,98
$R_STBD_OVSHOOT,41
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,500
$VBD_MAX,3960
$C_VBD,2839
$VBD_DBAND,4
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,9.9999997e-05
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,3
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$W_ADJ_DBAND,0
$DBDW,0
$PITCH_W_GAIN,0
$PITCH_W_DBAND,0
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,21
$MINV_10V,9.5
$MAXI_24V,0.60000002
$MAXI_10V,0.80000001
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,-2
$PRESSURE_YINT,-62.66111
$PRESSURE_SLOPE,0.0001160131
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,0
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,0
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,2
$ALTIM_SENSITIVITY,4
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0093
$INT_PRESSURE_YINT,-1
$DEEPGLIDER,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,-1
$DEVICE3,-1
$DEVICE4,-1
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,99
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,49
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043923887
$SEABIRD_T_H,0.00063351821
$SEABIRD_T_I,2.5271875e-05
$SEABIRD_T_J,3.0515032e-06
$SEABIRD_C_G,-9.7838888
$SEABIRD_C_H,1.1409903
$SEABIRD_C_I,-0.00071586663
$SEABIRD_C_J,0.00012479167
$PA_OFFLOAD,1.0
$PA_MAXUPLOADSIZE,20480.0
$PA_MAXOPTIONALUPLOADSIZE,0.0
$PA_POWERSOURCE,1.0
$PA_RESTARTMONITOR,0.0
$PA_CYCLEPAAM,1.0
$GPS1,120815,021002,5709.3286,-15058.8193,16,0.7,38,16.6,0.4,112.9,11,6.7
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.62
$_SM_ANGLEo,-64.1
$GPS2,120815,021417,5709.2915,-15058.8096,8,0.8,8,16.6,0.0,219.0,10,9.7
$SPEED_LIMITS,0.107,0.307
$TGT_NAME,WP10
$TGT_LATLONG,5706.000,-15048.000
$TGT_RADIUS,5000.000
$MHEAD_RNG_PITCHd_Wd,73.8,12466,-17.6,-10.667,-19.18,2802
$D_GRID,613
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,pitch_ad_start,roll_ad_start,vbd_pot1_ad_start,vbd_pot2_ad_start,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,vbd_pot1_ad,vbd_pot2_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors,pitch_volts,roll_volts,vbd_volts
$STATE,11,end surface,CONTROL_FINISHED_OK
$STATE,11,begin dive
$GC,12,-0.90,-194.6,200,2804,816,697,0.0,0.0,0,63,0.00,0.00,-48.70,0.000,16386,0.000,0.000,199,2803,2020,2066,1975,0,0,0,0,0,0,26.73,28.83,26.80
$GC,65,-0.90,-194.6,200,2802,2067,1976,3.2,-4.9,8,118,8.57,2.25,-39.70,0.000,18948,0.229,0.037,2342,1336,3635,3709,3562,0,0,0,0,0,0,25.70,24.40,26.07
$GC,202,-0.84,-194.6,2342,1337,3710,3568,33.7,-24.4,34,209,0.05,2.10,0.00,0.000,3078,0.152,0.026,2352,2704,3638,3710,3566,0,0,0,0,0,0,26.23,26.49,26.28
$GC,508,-0.82,-194.6,2352,2706,3711,3572,92.2,-18.2,73,509,0.08,0.00,0.00,0.000,2054,0.203,0.000,2369,2704,3640,3710,3571,0,0,0,0,0,0,26.67,26.72,26.69
$GC,808,-0.82,-194.6,2370,2706,3710,3574,139.9,-15.8,103,809,0.00,0.00,0.00,0.000,6,0.000,0.000,2369,2704,3640,3709,3572,0,0,0,0,0,0,27.03,27.10,27.09
$GC,1109,-0.84,-194.6,2369,2704,3711,3572,183.3,-14.2,133,1112,0.00,2.00,0.00,0.000,516,0.000,0.023,2370,1333,3640,3709,3572,0,0,0,0,0,0,27.08,26.73,27.14
$GC,1153,-0.86,-194.6,2369,1332,3711,3572,189.0,-14.3,137,1159,0.00,2.05,0.00,0.000,1030,0.000,0.025,2363,2700,3641,3710,3572,0,0,0,0,0,0,26.75,26.74,26.79
$GC,1458,-0.88,-194.6,2363,2701,3710,3574,231.8,-13.5,168,1459,0.00,0.00,0.00,0.000,6,0.000,0.000,2362,2700,3640,3709,3572,0,0,0,0,0,0,27.12,27.19,27.18
$GC,1758,-0.90,-194.6,2363,2699,3710,3571,269.0,-12.0,188,1762,0.00,1.75,0.00,0.000,260,0.000,0.040,2356,3847,3640,3709,3572,0,0,0,0,0,0,27.14,26.67,27.20
$GC,1818,-0.92,-194.6,2356,3849,3711,3574,276.8,-12.6,190,1822,0.00,1.62,0.00,0.000,1030,0.000,0.021,2356,2715,3641,3710,3572,0,0,0,0,0,0,26.92,26.91,26.94
$GC,2148,-0.95,-194.6,2357,2717,3708,3574,319.3,-12.7,201,2149,0.00,0.00,0.00,0.000,6,0.000,0.000,2356,2715,3640,3709,3572,0,0,0,0,0,0,27.16,27.23,27.22
$GC,2448,-0.97,-194.6,2356,2715,3708,3572,357.4,-12.8,211,2452,0.00,1.75,0.00,0.000,260,0.000,0.039,2349,3846,3639,3706,3572,0,0,0,0,0,0,27.17,26.70,27.24
$GC,2493,-0.99,-194.6,2349,3845,3707,3572,361.6,-13.1,212,2497,0.00,1.65,0.00,0.000,1030,0.000,0.021,2349,2690,3639,3706,3572,0,0,0,0,0,0,26.95,26.94,26.97
$GC,2808,-1.01,-194.6,2348,2690,3707,3572,406.1,-13.4,223,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2349,2690,3638,3705,3572,0,0,0,0,0,0,27.19,27.26,27.25
$GC,3108,-1.03,-194.6,2349,2690,3705,3572,447.4,-13.6,233,3111,0.00,1.80,0.00,0.000,260,0.000,0.040,2340,3846,3637,3703,3572,0,0,0,0,0,0,27.20,26.70,27.26
$GC,3138,-1.05,-194.6,2341,3846,3704,3572,451.5,-13.6,234,3142,0.00,1.65,0.00,0.000,1030,0.000,0.022,2340,2701,3638,3704,3572,0,0,0,0,0,0,26.96,26.95,26.97
$GC,3468,-1.05,-194.6,2340,2702,3704,3572,497.8,-14.2,245,3469,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2702,3637,3702,3572,0,0,0,0,0,0,27.20,27.27,27.27
$GC,3768,-1.05,-194.6,2340,2702,3702,3572,537.6,-13.0,255,3768,0.00,0.00,0.00,0.000,6,0.000,0.000,2340,2702,3636,3700,3572,0,0,0,0,0,0,27.20,27.28,27.27
$GC,4068,-1.06,-194.6,2340,2702,3701,3572,577.8,-13.7,265,4072,0.00,1.77,0.00,0.000,260,0.000,0.039,2334,3840,3635,3699,3572,0,0,0,0,0,0,27.21,26.70,27.27
$GC,4142,-1.06,-194.6,2334,3840,3700,3572,586.1,-13.7,267,4147,0.00,1.65,0.00,0.000,1030,0.000,0.021,2334,2687,3635,3698,3572,0,0,0,0,0,0,26.98,26.96,26.98
$STATE,4336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4336,begin apogee
$GC,4340,-0.25,0.0,2334,2808,3700,3572,614.1,-13.0,274,4500,0.70,0.00,156.95,0.860,10246,0.117,0.000,2557,2808,2835,2871,2800,0,0,0,0,0,0,26.20,25.10,24.39
$STATE,4501,end apogee,CONTROL_FINISHED_OK
$STATE,4501,begin climb
$GC,4502,0.90,194.6,2557,2808,2868,2795,622.5,0.0,279,4664,1.05,1.67,153.88,0.853,11012,0.070,0.037,2926,3833,2036,2072,2000,0,0,0,0,0,0,25.24,24.41,23.92
$GC,4889,0.86,255.4,2925,3834,2065,1987,609.5,8.4,291,4942,0.00,1.50,49.75,0.842,9222,0.000,0.022,2931,2796,1794,1834,1755,0,0,0,0,0,0,26.21,26.19,24.68
$GC,5263,0.87,287.8,2931,2796,1819,1734,573.2,9.5,304,5296,0.00,1.70,27.27,0.834,8452,0.000,0.040,2931,3835,1654,1696,1613,0,0,0,0,0,0,26.65,25.86,25.10
$GC,5520,0.85,287.8,2931,3837,1689,1602,546.2,11.6,312,5523,0.00,1.48,0.00,0.000,1030,0.000,0.022,2931,2807,1644,1688,1601,0,0,0,0,0,0,26.48,26.47,26.51
$GC,5835,0.85,301.0,2931,2806,1690,1598,512.0,10.2,323,5840,0.00,0.00,4.00,0.817,8198,0.000,0.000,2931,2807,1610,1654,1567,0,0,0,0,0,0,26.86,26.21,25.08
$GC,6135,0.85,322.8,2931,2807,1676,1577,481.9,9.9,333,6167,0.00,1.60,26.95,0.795,8452,0.000,0.037,2932,3841,1515,1559,1471,0,0,0,0,0,0,26.92,25.85,25.37
$GC,6216,0.85,333.0,2932,3843,1553,1463,475.4,10.3,335,6222,0.00,1.50,2.90,0.571,9222,0.000,0.021,2932,2803,1481,1526,1436,0,0,0,0,0,0,26.39,26.39,24.77
$GC,6521,0.85,344.0,2932,2804,1543,1447,441.7,10.3,345,6544,0.00,2.12,17.65,0.786,8708,0.000,0.025,2932,1427,1428,1473,1383,0,0,0,0,0,0,26.81,26.13,25.37
$GC,6571,0.85,351.4,2932,1428,1469,1379,438.5,10.4,346,6576,0.00,2.12,1.48,0.186,9222,0.000,0.027,2931,2792,1405,1450,1360,0,0,0,0,0,0,26.34,26.31,25.87
$GC,6876,0.87,351.4,2932,2792,1465,1363,401.8,11.4,356,6877,0.00,0.00,0.00,0.000,6,0.000,0.000,2932,2792,1413,1464,1363,0,0,0,0,0,0,26.82,26.90,26.89
$GC,7176,0.89,351.4,2932,2793,1465,1364,367.7,11.3,366,7180,0.00,2.05,0.00,0.000,516,0.000,0.024,2932,1432,1413,1464,1363,0,0,0,0,0,0,26.94,26.64,27.01
$GC,7211,0.91,351.4,2932,1433,1465,1363,364.3,11.3,367,7215,0.00,2.10,0.00,0.000,1030,0.000,0.027,2932,2806,1413,1464,1363,0,0,0,0,0,0,26.66,26.63,26.68
$GC,7536,0.93,351.4,2932,2806,1465,1363,328.0,10.9,378,7541,0.00,1.60,0.00,0.000,260,0.000,0.040,2932,3843,1413,1464,1362,0,0,0,0,0,0,27.02,26.61,27.08
$GC,7571,0.95,351.4,2932,3843,1465,1362,324.5,11.1,379,7575,0.00,1.48,0.00,0.000,1030,0.000,0.022,2932,2804,1413,1464,1363,0,0,0,0,0,0,26.83,26.82,26.85
$GC,7896,0.97,351.4,2932,2804,1463,1363,286.4,11.9,390,7900,0.00,2.05,0.00,0.000,516,0.000,0.024,2932,1429,1413,1464,1363,0,0,0,0,0,0,27.07,26.75,27.13
$GC,7936,1.00,351.4,2932,1428,1465,1362,283.0,11.8,391,7940,0.05,2.08,0.00,0.000,3078,0.067,0.027,2984,2791,1413,1463,1363,0,0,0,0,0,0,26.62,26.72,26.67
$GC,8247,0.98,351.4,2984,2792,1465,1364,238.5,14.3,407,8250,0.00,1.58,0.00,0.000,260,0.000,0.041,2984,3851,1413,1463,1363,0,0,0,0,0,0,27.10,26.67,27.17
$GC,8291,0.94,351.4,2984,3852,1465,1364,232.6,14.6,411,8298,0.08,1.50,0.00,0.000,5126,0.152,0.022,2967,2792,1413,1464,1363,0,0,0,0,0,0,26.49,26.88,26.55
$GC,8596,0.94,351.4,2968,2791,1465,1362,191.7,12.9,442,8597,0.00,0.00,0.00,0.000,6,0.000,0.000,2968,2791,1413,1464,1363,0,0,0,0,0,0,27.13,27.20,27.20
$GC,8897,0.94,351.4,2968,2792,1465,1364,155.0,12.1,472,8900,0.00,1.98,0.00,0.000,516,0.000,0.024,2972,1430,1413,1464,1363,0,0,0,0,0,0,27.15,26.80,27.22
$GC,8971,0.94,351.4,2972,1431,1465,1364,146.7,11.7,479,8978,0.00,2.10,0.00,0.000,1030,0.000,0.026,2971,2808,1413,1464,1362,0,0,0,0,0,0,26.82,26.79,26.84
$GC,9276,0.95,407.2,2972,2808,1465,1362,115.1,8.6,510,9342,0.00,2.08,61.90,0.550,8708,0.000,0.023,2972,1427,1172,1223,1121,0,0,0,0,0,0,27.17,25.84,25.47
$GC,9397,0.98,408.3,2972,1429,1213,1113,103.4,10.6,521,9403,0.00,2.12,0.00,0.000,1030,0.000,0.026,2972,2795,1161,1212,1111,0,0,0,0,0,0,26.31,26.28,26.33
$GC,9702,1.02,413.5,2972,2794,1211,1106,68.7,10.5,552,9706,0.00,2.05,0.00,0.000,516,0.000,0.024,2972,1436,1158,1211,1106,0,0,0,0,0,0,26.84,26.51,26.90
$GC,9853,1.07,440.8,2972,1438,1211,1108,54.5,9.7,567,9893,0.00,2.05,33.95,0.513,9222,0.000,0.026,2971,2809,1034,1091,978,0,0,0,0,0,0,26.62,26.56,25.56
$GC,10192,1.13,497.3,2972,2811,1083,965,19.7,8.6,630,10222,0.10,2.10,22.55,0.187,10756,0.099,0.024,3040,1436,810,874,747,0,0,0,0,0,0,26.65,26.17,25.83
$GC,10297,1.16,497.3,3040,1436,881,755,8.5,11.1,650,10303,0.00,2.05,0.00,0.000,1030,0.000,0.026,3040,2802,816,880,753,0,0,0,0,0,0,26.53,26.48,26.56
$STATE,10356,end climb,SURFACE_DEPTH_REACHED
$STATE,10356,begin surface coast
$FINISH,0.7,1.023394
$STATE,10371,end surface coast,CONTROL_FINISHED_OK
$STATE,10371,begin surface
$SM_CCo,10444,0.00,0.000,0,0,816,496.24
$SM_GC,1.83,7.45,0.00,0.00,0.034,0.000,0.000,197,2803,816,-7.58,2.91,496.24,0,0,0,0,0,0,26.47,26.91,26.53
$IRIDIUM_FIX,5644.84,-15008.91,070608,120559
$TT8_MAMPS,0.057673,0.057673
$HUMID,44.36
$INTERNAL_PRESSURE,8.7743
$TCM_TEMP,17.70
$XPDR_PINGS,0
$24V_AH,23.92,63.985
$10V_AH,10.21,38.350
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,18.125,66.850,559.225,0.000,0.000,0.000,0.000,192.025,0.000,0.000,15.934,0.000,8083.580,605.170,1909.903,98.969,0.000,1556.009,0.000,1346.866,0.000,0.547,0.000
$DEVICE_MAMPS,228.735,72.675,859.860,0.000,0.000,0.000,0.000,81.855,420.000,0.000,26.960,0.000,2.190,18.450,43.170,60.400,0.000,16.000,0.000,8.240,0.000,5.000,0.000
$SENSORS,SBE_CT,nil,nil,nil,nil,nil,PAAM,nil,nil,nil
$SENSOR_SECS,453.243,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,23.970,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,142640
$DATA_FILE_SIZE,26799,665
$CAP_FILE_SIZE,103186,0
$CFSIZE,1024393216,979025920
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,2,0
$INTR,0,12705.22,0x236db2,7,5
$INTR,1,10374.02,0x236db2,7,5
$CURRENT,0.158,235.69,1
$GPS,120815,050926,5708.695,-15056.823,16,0.8,31,16.6,0.5,209.4,11,10.0